Moved the channel mappings and attributes to the config section

1 files changed, 43 insertions, 32 deletions

diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 07c65d8cd..cc6a425a3 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -222,7 +222,7 @@ PX4IO::PX4IO() :
 	_relays(0),
 	_switch_armed(false),
 	_send_needed(false),
-	_config_needed(false)
+	_config_needed(true)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -447,12 +447,6 @@ PX4IO::task_main()
 			}
 		}
 
-		/* send an update to IO if required */
-		if (_send_needed) {
-			_send_needed = false;
-			io_send();
-		}
-
 		/* send a config packet to IO if required */
 		if (_config_needed) {
 			_config_needed = false;
@@ -467,6 +461,12 @@ PX4IO::task_main()
 			_mix_buf = nullptr;
 			_mix_buf_len = 0;
 		}
+
+		/* send an update to IO if required */
+		if (_send_needed) {
+			_send_needed = false;
+			io_send();
+		}
 	}
 
 	unlock();
@@ -608,49 +608,60 @@ PX4IO::io_send()
 	cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok;
 	/* set desired PWM output rate */
 	cmd.servo_rate = _update_rate;
+	
+	ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
 
-	/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
-	cmd.rc_map[0] = param_find("RC_MAP_ROLL");
-	cmd.rc_map[1] = param_find("RC_MAP_PITCH");
-	cmd.rc_map[2] = param_find("RC_MAP_YAW");
-	cmd.rc_map[3] = param_find("RC_MAP_THROTTLE");
+	if (ret)
+		debug("send error %d", ret);
+}
+
+void
+PX4IO::config_send()
+{
+	px4io_config	cfg;
+	int		ret;
+
+	cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
+
+	int val;
+
+	/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */		
+	param_get(param_find("RC_MAP_ROLL"), &val);
+	cfg.rc_map[0] = (uint8_t)val;
+	param_get(param_find("RC_MAP_PITCH"), &val);
+	cfg.rc_map[1] = (uint8_t)val;
+	param_get(param_find("RC_MAP_YAW"), &val);
+	cfg.rc_map[2] = (uint8_t)val;
+	param_get(param_find("RC_MAP_THROTTLE"), &val);
+	cfg.rc_map[3] = (uint8_t)val;
 
 	/* set the individual channel properties */
 	char nbuf[16];
 	for (unsigned i = 0; i < 4; i++) {
-		sprintf(nbuf, "RC%d_MIN", i);	
-		cmd.rc_min[i] = (uint16_t)param_find(nbuf);
+		sprintf(nbuf, "RC%d_MIN", i);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_min[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_TRIM", i);	
-		cmd.rc_trim[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_trim[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_MAX", i);	
-		cmd.rc_max[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_max[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_REV", i);	
-		cmd.rc_rev[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_rev[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_DZ", i);	
-		cmd.rc_dz[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_dz[i] = (uint16_t)val;
 	}
-	
-	ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
-
-	if (ret)
-		debug("send error %d", ret);
-}
-
-void
-PX4IO::config_send()
-{
-	px4io_config	cfg;
-	int		ret;
-
-	cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
 
 	ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));